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#ifndef COMMUNICATION_CORE_HPP // This block is called a conditional group. The
                               // controlled text will get included in the
                               // preprocessor output iff the macroname is not
                               // defined.
#define COMMUNICATION_CORE_HPP // Include guards help to avoid the double inclusion
                               // of header files, by defining a token = macro.

// Boost includes
#include <boost/asio.hpp>
#include <boost/asio/serial_port.hpp>
#include <boost/bind.hpp>
#include <boost/date_time/posix_time/posix_time.hpp>
#include <boost/exception/diagnostic_information.hpp> // dealing with bad file descriptor error
#include <boost/function.hpp>
// C++ library includes
#include <fstream>
#include <memory>
#include <sstream>
#include <unistd.h> // for usleep()
// ROSaic includes
#include <septentrio_gnss_driver/communication/async_manager.hpp>
#include <septentrio_gnss_driver/communication/callback_handlers.hpp>

/**
 * @file communication_core.hpp
 * @date 22/08/20
 * @brief Highest-Level view on communication services
 */

/**
 * @namespace io_comm_rx
 * This namespace is for the communication interface, handling all aspects related to
 * serial and TCP/IP communication..
 */
namespace io_comm_rx {

    //! Possible baudrates for the Rx
    const static uint32_t BAUDRATES[] = {
        1200,    2400,    4800,    9600,    19200,   38400,   57600,
        115200,  230400,  460800,  500000,  576000,  921600,  1000000,
        1152000, 1500000, 2000000, 2500000, 3000000, 3500000, 4000000};

    /**
     * @class Comm_IO
     * @brief Handles communication with and configuration of the mosaic (and beyond)
     * receiver(s)
     */
    class Comm_IO
    {
    public:
        /**
         * @brief Default constructor of the class Comm_IO
         */
        Comm_IO();

        /**
         * @brief Default destructor of the class Comm_IO
         */
        virtual ~Comm_IO() = default;

        /**
         * @brief Initializes the serial port
         * @param[in] port The device's port address
         * @param[in] baudrate The chosen baud rate of the port
         * @param[in] flowcontrol Default is "None", set variable (not yet checked)
         * to "RTS|CTS" to activate hardware flow control (only for serial ports
         * COM1, COM2 and COM3 (for mosaic))
         * @return True if connection could be established, false otherwise
         */
        bool initializeSerial(std::string port, uint32_t baudrate = 115200,
                              std::string flowcontrol = "None");

        /**
         * @brief Initializes the TCP I/O
         * @param[in] host The TCP host
         * @param[in] port The TCP port
         * @return True if connection could be established, false otherwise
         */
        bool initializeTCP(std::string host, std::string port);

        /**
         * @brief Initializes SBF file reading and reads SBF file by repeatedly
         * calling read_callback_()
         * @param[in] file_name The name of (or path to) the SBF file, e.g. "xyz.sbf"
         */
        void initializeSBFFileReading(std::string file_name);

        /**
         * @brief Initializes PCAP file reading and reads PCAP file by repeatedly
         * calling read_callback_()
         * @param[in] file_name The name of (or path to) the PCAP file, e.g. "/tmp/capture.pcap"
         */
        void initializePCAPFileReading(std::string file_name);

        /**
         * @brief Set the I/O manager
         * @param[in] manager An I/O handler
         */
        void setManager(const boost::shared_ptr<Manager>& manager);

        /**
         * @brief Reset the Serial I/O port, e.g. after a Rx reset
         * @param[in] port The device's port address
         */
        void resetSerial(std::string port);

        /**
         * @brief Returns the CallbackHandlers instance
         * @return The class instance
         */
        CallbackHandlers getHandlers() const { return handlers_; }

        /**
         * @brief Hands over to the send() method of manager_
         * @param cmd The command to hand over
         */
        void send(std::string cmd);

        //! Callback handlers for the inwards streaming messages
        CallbackHandlers handlers_;

    private:
        //! Saves the port description
        std::string serial_port_;
        //! Processes I/O stream data
        //! This declaration is deliberately stream-independent (Serial or TCP).
        boost::shared_ptr<Manager> manager_;
        //! Baudrate at the moment, unless InitializeSerial or ResetSerial fail
        uint32_t baudrate_;

        friend class CallbackHandlers;
        friend class RxMessage;

        //! Host currently connected to
        std::string host_;
        //! Port over which TCP/IP connection is currently established
        std::string port_;
        //! Sleep time in microseconds (there is no Unix command for milliseconds)
        //! after setting the baudrate to certain value (important between
        //! increments)
        const static unsigned int SET_BAUDRATE_SLEEP_ = 500000;
    };
} // namespace io_comm_rx

#endif // for COMMUNICATION_CORE_HPP
